HiveCoreRD/hivecore_robot_brain
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This commit is contained in:
NuoDaJia02
2025-12-30 15:08:20 +08:00
parent 40b38dfd00
commit 5cf006a3e5
1 changed files with 17 additions and 3 deletions
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20
src/brain/config/bt_vision_grasp.xml
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@@ -1,8 +1,15 @@
<root BTCPP_format="4">
<root BTCPP_format="4" main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence name="root">
<SubTree ID="vision_grasp_subtree"/>
<SubTree ID="putdown_subtree"/>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="vision_grasp_subtree">
<Sequence name="vision_grasp_root">
<RetryUntilSuccessful name="retry_vision_grasp" num_attempts="3">
<Sequence>
<Sequence>
<Arm_H name="s1_right_arm_pre_cam_take_photo" />
<Parallel name="parallel_action_1">
<!-- <MoveWheel_H name="s1_wheel_move_to_origin_pickup_position" /> -->
@@ -23,7 +30,15 @@
<GripperCmd_H name="s4_gripper_close" />
<Arm_H name="s4_right_arm_take_box" />
<Arm_H name="s5_right_arm_grasp_box" />
</Sequence>
</RetryUntilSuccessful>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="putdown_subtree">
<Sequence name="putdown_root">
<RetryUntilSuccessful name="retry_putdown" num_attempts="3">
<Sequence>
<!-- <Parallel name="parallel_action_2">
<MoveWheel_H name="s6_wheel_move_to_putdown_position" />
<MoveWaist_H name="s6_move_waist_turn_left_90" />
@@ -37,7 +52,6 @@
<!-- <MoveWaist_H name="s10_move_waist_turn_right_90" /> -->
<Arm_H name="s11_right_arm_pre_cam_take_photo" />
</Parallel>
</Sequence>
</RetryUntilSuccessful>
</Sequence>